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Biped walking control using a trajectory library

Published online by Cambridge University Press:  25 May 2012

Chenggang Liu ,
Christopher G. Atkeson  and
Jianbo Su
Chenggang Liu*
Affiliation:
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
Christopher G. Atkeson
Affiliation:
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, [email protected]
Jianbo Su
Affiliation:
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents biped walking control using a library of optimal trajectories. Biped walking control is formulated as an optimal control problem. We use a parametric trajectory optimization method to find the periodic steady-state walking trajectory. As a second stage, we use Differential Dynamic Programming to generate a library of optimal trajectories and locally linear models of the optimal control law, which are used to construct a more global control law. The proposed controller is compared with a trajectory tracking controller using optimal gains. The utility and performance of the proposed method are evaluated using simulated walking control of a planar five-link biped robot.

Keywords

Trajectory optimizationTrajectory libraryRobot control
Type
Articles
Information
Robotica , Volume 31 , Issue 2 , March 2013 , pp. 311 - 322
Copyright
Copyright © Cambridge University Press 2012

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